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    <title>ammo物理引擎扩展支持  | Mars3D | 三维地图 | 火星科技 | 合肥火星科技有限公司</title>

    <script
      type="text/javascript"
      src="../lib/include-lib.js"
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      include="jquery,font-awesome,bootstrap,layer,haoutil,turf,mars3d,meshVisualizer"
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    <div id="mars3dContainer" class="mars3d-container"></div>

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    <div class="infoview">操作提示：鼠标左键单击进行发射</div>



    <script src="../lib/ammo/ex/ConvexObjectBreaker.js"></script>
    <script src="../lib/ammo/ex/QuickHull.js"></script>
    <script src="../lib/ammo/ex/geometries/ConvexGeometry.js"></script>

    <script src="./js/common.js"></script>
    <script type="text/javascript">
      "use script"; //开发环境建议开启严格模式

      var map;

      function initMap(options) {
        //合并属性参数，可覆盖config.json中的对应配置
        var mapOptions = mars3d.Util.merge(options, {
          scene: {
            center: { lat: 31.834317, lng: 117.2199, alt: 87, heading: 30, pitch: -29 },
            fxaa: true,
          },
        });

        //创建三维地球场景
        map = new mars3d.Map("mars3dContainer", mapOptions);

        let MeshVisualizer = Cesium.MeshVisualizer;
        let Mesh = Cesium.Mesh;
        let MeshMaterial = Cesium.MeshMaterial;
        let FramebufferTexture = Cesium.FramebufferTexture;
        let GeometryUtils = Cesium.GeometryUtils;
        let MeshPhongMaterial = Cesium.MeshPhongMaterial;
        let BasicMeshMaterial = Cesium.BasicMeshMaterial;
        let LOD = Cesium.LOD;

        var center = Cesium.Cartesian3.fromDegrees(117.220206, 31.834866, 50);
        var modelMatrix = Cesium.Transforms.eastNorthUpToFixedFrame(center);

        var meshVisualizer = new Cesium.MeshVisualizer({
          modelMatrix: modelMatrix,
          up: { y: 1 },
          referenceAxisParameter: {
            length: 100,
            width: 0.05,
            headLength: 2,
            headWidth: 0.1,
          },
        });
        map.scene.primitives.add(meshVisualizer);

        meshVisualizer.showReference = true; //显示坐标轴

        function createRandomColor() {
          return Cesium.Color.fromRandom({ alpha: 1 }); //fromRgba(Math.floor(Math.random() * (1 << 24)));
        }
        function createMaterial(color) {
          if (typeof color === "string") {
            //
          } else if (Cesium.defined(color)) {
            color = Cesium.Color.fromRgba(color).withAlpha(1);
          } else {
            color = createRandomColor();
          }
          return new MeshPhongMaterial({
            defaultColor: color,
            side: MeshMaterial.Sides.DOUBLE,
            translucent: false,
          });
        }
        var groundMaterial = new MeshPhongMaterial({
          defaultColor: "rgb(255,0,0)",
          side: MeshMaterial.Sides.DOUBLE,
          translucent: false,
        });
        Cesium.Cartesian3.prototype.set = function (x, y, z) {
          this.x = x;
          this.y = y;
          this.z = z;
        };
        Cesium.Cartesian2.prototype.set = function (x, y) {
          this.x = x;
          this.y = y;
        };
        Cesium.Quaternion.prototype.set = function (x, y, z, w) {
          this.x = x;
          this.y = y;
          this.z = z;
          this.w = w;
        };

        Ammo().then(function () {
          // - Global variables -

          // Graphics variables
          var clock = new THREE.Clock();

          var mouseCoords = new THREE.Vector2();
          var raycaster = new THREE.Raycaster();
          var ballMaterial = createMaterial(0x202020);

          // Physics variables
          var gravityConstant = 7.8;
          var collisionConfiguration;
          var dispatcher;
          var broadphase;
          var solver;
          var physicsWorld;
          var margin = 0.05;

          var convexBreaker = new THREE.ConvexObjectBreaker();

          // Rigid bodies include all movable objects
          var rigidBodies = [];

          var pos = new THREE.Vector3();
          var quat = new THREE.Quaternion();
          var transformAux1 = new Ammo.btTransform();
          var tempBtVec3_1 = new Ammo.btVector3(0, 0, 0);

          var time = 0;

          var objectsToRemove = [];
          for (var i = 0; i < 500; i++) {
            objectsToRemove[i] = null;
          }
          var numObjectsToRemove = 0;

          var impactPoint = new THREE.Vector3();
          var impactNormal = new THREE.Vector3();

          function initPhysics() {
            // Physics configuration

            collisionConfiguration = new Ammo.btDefaultCollisionConfiguration();
            dispatcher = new Ammo.btCollisionDispatcher(collisionConfiguration);
            broadphase = new Ammo.btDbvtBroadphase();
            solver = new Ammo.btSequentialImpulseConstraintSolver();
            physicsWorld = new Ammo.btDiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration);
            physicsWorld.setGravity(new Ammo.btVector3(0, -gravityConstant, 0));
          }

          function createObject(mass, halfExtents, pos, quat, material) {
            //y，z调换位置
            var object = new THREE.Mesh(new THREE.BoxGeometry(halfExtents.x * 2, halfExtents.y * 2, halfExtents.z * 2), material);
            object.position.copy(pos);
            object.quaternion.copy(quat);
            //object.position.y += 3;
            convexBreaker.prepareBreakableObject(object, mass, new THREE.Vector3(), new THREE.Vector3(), true);

            createDebrisFromBreakableObject(object);
          }

          function createObjects() {
            // Ground
            pos.set(0, -0.5, 0);
            quat.set(0, 0, 0, 1);
            var ground = createParalellepipedWithPhysics(40, 1, 40, 0, pos, quat, createMaterial(0xffffff));

            // Tower 1
            var towerMass = 1000;
            var towerHalfExtents = new THREE.Vector3(2, 5, 2);
            pos.set(-8, 5, 0);
            quat.set(0, 0, 0, 1);
            createObject(towerMass, towerHalfExtents, pos, quat, createMaterial("rgb(247,174,68)"));

            // Tower 2
            pos.set(8, 5, 0);
            quat.set(0, 0, 0, 1);
            createObject(towerMass, towerHalfExtents, pos, quat, createMaterial("rgb(247,174,68)"));

            //Bridge
            var bridgeMass = 100;
            var bridgeHalfExtents = new THREE.Vector3(7, 0.2, 1.5);
            pos.set(0, 10.2, 0);
            quat.set(0, 0, 0, 1);
            createObject(bridgeMass, bridgeHalfExtents, pos, quat, createMaterial("rgb(247,174,68)"));

            // Stones
            var stoneMass = 120;
            var stoneHalfExtents = new THREE.Vector3(1, 2, 0.15);
            var numStones = 8;
            quat.set(0, 0, 0, 1);
            for (var i = 0; i < numStones; i++) {
              pos.set(0, 2, 15 * (0.5 - i / (numStones + 1)));

              createObject(stoneMass, stoneHalfExtents, pos, quat, createMaterial(0xb0b0b0));
            }

            // Mountain
            var mountainMass = 860;
            var mountainHalfExtents = new THREE.Vector3(4, 5, 4);
            pos.set(5, mountainHalfExtents.y * 0.5, -7);
            quat.set(0, 0, 0, 1);
            var mountainPoints = [];
            //y，z调换位置
            mountainPoints.push(new THREE.Vector3(mountainHalfExtents.x, -mountainHalfExtents.y, mountainHalfExtents.z));
            mountainPoints.push(new THREE.Vector3(-mountainHalfExtents.x, -mountainHalfExtents.y, mountainHalfExtents.z));
            mountainPoints.push(new THREE.Vector3(mountainHalfExtents.x, -mountainHalfExtents.y, -mountainHalfExtents.z));
            mountainPoints.push(new THREE.Vector3(-mountainHalfExtents.x, -mountainHalfExtents.y, -mountainHalfExtents.z));
            mountainPoints.push(new THREE.Vector3(0, mountainHalfExtents.y, 0));
            var mountain = new THREE.Mesh(new THREE.ConvexGeometry(mountainPoints), createMaterial("rgb(247,174,68)"));
            mountain.position.copy(pos);
            mountain.quaternion.copy(quat);
            convexBreaker.prepareBreakableObject(mountain, mountainMass, new THREE.Vector3(), new THREE.Vector3(), true);
            createDebrisFromBreakableObject(mountain);
          }

          function createParalellepipedWithPhysics(sx, sy, sz, mass, pos, quat, material) {
            var box = Cesium.BoxGeometry.createGeometry(
              Cesium.BoxGeometry.fromDimensions({
                dimensions: new Cesium.Cartesian3(sx, sy, sz),
                vertexFormat: new Cesium.VertexFormat({
                  position: true,
                  normal: true,
                }),
              })
            );
            var object = new Cesium.Mesh(box, material);
            object.quaternion = new Cesium.Quaternion();
            var shape = new Ammo.btBoxShape(new Ammo.btVector3(sx * 0.5, sy * 0.5, sz * 0.5));
            shape.setMargin(margin);

            createRigidBody(object, shape, mass, pos, quat);

            return object;
          }

          function createDebrisFromBreakableObject(object) {
            object.castShadow = true;
            object.receiveShadow = true;

            var shape = createConvexHullPhysicsShape(object.geometry.vertices);
            shape.setMargin(margin);

            var body = createRigidBody(object, shape, object.userData.mass, null, null, object.userData.velocity, object.userData.angularVelocity);

            // Set pointer back to the three object only in the debris objects
            var btVecUserData = new Ammo.btVector3(0, 0, 0);
            btVecUserData.threeObject = object;
            body.setUserPointer(btVecUserData);
          }

          function removeDebris(object) {
            meshVisualizer.remove(object);

            physicsWorld.removeRigidBody(object.userData.physicsBody);
          }

          function createConvexHullPhysicsShape(points) {
            var shape = new Ammo.btConvexHullShape();

            for (var i = 0, il = points.length; i < il; i++) {
              var p = points[i];
              tempBtVec3_1.setValue(p.x, p.y, p.z); //y,z调换位置
              var lastOne = i === il - 1;
              shape.addPoint(tempBtVec3_1, lastOne);
            }

            return shape;
          }

          function createRigidBody(object, physicsShape, mass, pos, quat, vel, angVel) {
            if (pos) {
              object.position.copy(pos);
            } else {
              pos = object.position;
            }
            if (quat) {
              if (object.quaternion) {
                object.quaternion.copy(quat);
              }
            } else {
              quat = object.quaternion;
            }

            var transform = new Ammo.btTransform();
            transform.setIdentity();
            transform.setOrigin(new Ammo.btVector3(pos.x, pos.y, pos.z));
            transform.setRotation(new Ammo.btQuaternion(quat.x, quat.y, quat.z, quat.w));
            var motionState = new Ammo.btDefaultMotionState(transform);

            var localInertia = new Ammo.btVector3(0, 0, 0);
            physicsShape.calculateLocalInertia(mass, localInertia);

            var rbInfo = new Ammo.btRigidBodyConstructionInfo(mass, motionState, physicsShape, localInertia);
            var body = new Ammo.btRigidBody(rbInfo);

            body.setFriction(0.5);

            if (vel) {
              body.setLinearVelocity(new Ammo.btVector3(vel.x, vel.y, vel.z));
            }
            if (angVel) {
              body.setAngularVelocity(new Ammo.btVector3(angVel.x, angVel.y, angVel.z));
            }

            object.userData.physicsBody = body;
            object.userData.collided = false;

            meshVisualizer.add(object);

            if (mass > 0) {
              rigidBodies.push(object);

              // Disable deactivation
              body.setActivationState(4);
            }

            physicsWorld.addRigidBody(body);

            return body;
          }

          function updatePhysics(deltaTime) {
            // Step world
            physicsWorld.stepSimulation(deltaTime, 10);

            // Update rigid bodies
            for (let i = 0, il = rigidBodies.length; i < il; i++) {
              var objThree = rigidBodies[i];
              var objPhys = objThree.userData.physicsBody;
              var ms = objPhys.getMotionState();
              if (ms) {
                ms.getWorldTransform(transformAux1);
                var p = transformAux1.getOrigin();
                var q = transformAux1.getRotation();
                objThree.position.set(p.x(), p.y(), p.z());
                if (objThree.quaternion) {
                  objThree.quaternion.set(q.x(), q.y(), q.z(), q.w());
                }

                objThree.userData.collided = false;
                objThree.modelMatrixNeedsUpdate = true;
              }
            }

            for (let i = 0, il = dispatcher.getNumManifolds(); i < il; i++) {
              var contactManifold = dispatcher.getManifoldByIndexInternal(i);
              var rb0 = contactManifold.getBody0();
              var rb1 = contactManifold.getBody1();

              var threeObject0 = Ammo.castObject(rb0.getUserPointer(), Ammo.btVector3).threeObject;
              var threeObject1 = Ammo.castObject(rb1.getUserPointer(), Ammo.btVector3).threeObject;

              if (!threeObject0 && !threeObject1) {
                continue;
              }

              var userData0 = threeObject0 ? threeObject0.userData : null;
              var userData1 = threeObject1 ? threeObject1.userData : null;

              var breakable0 = userData0 ? userData0.breakable : false;
              var breakable1 = userData1 ? userData1.breakable : false;

              var collided0 = userData0 ? userData0.collided : false;
              var collided1 = userData1 ? userData1.collided : false;

              if ((!breakable0 && !breakable1) || (collided0 && collided1)) {
                continue;
              }

              var contact = false;
              var maxImpulse = 0;
              for (let j = 0, jl = contactManifold.getNumContacts(); j < jl; j++) {
                var contactPoint = contactManifold.getContactPoint(j);
                if (contactPoint.getDistance() < 0) {
                  contact = true;
                  var impulse = contactPoint.getAppliedImpulse();
                  if (impulse > maxImpulse) {
                    maxImpulse = impulse;
                    var pos = contactPoint.get_m_positionWorldOnB();
                    var normal = contactPoint.get_m_normalWorldOnB();
                    impactPoint.set(pos.x(), pos.y(), pos.z());
                    impactNormal.set(normal.x(), normal.y(), normal.z());
                  }
                  break;
                }
              }

              // If no point has contact, abort
              if (!contact) {
                continue;
              }

              // Subdivision

              var fractureImpulse = 250;

              if (breakable0 && !collided0 && maxImpulse > fractureImpulse) {
                let debris = convexBreaker.subdivideByImpact(threeObject0, impactPoint, impactNormal, 1, 2, 1.5);

                let numObjects = debris.length;
                for (let j = 0; j < numObjects; j++) {
                  createDebrisFromBreakableObject(debris[j]);
                }

                objectsToRemove[numObjectsToRemove++] = threeObject0;
                userData0.collided = true;
              }

              if (breakable1 && !collided1 && maxImpulse > fractureImpulse) {
                var debris = convexBreaker.subdivideByImpact(threeObject1, impactPoint, impactNormal, 1, 2, 1.5);

                var numObjects = debris.length;
                for (var j = 0; j < numObjects; j++) {
                  createDebrisFromBreakableObject(debris[j]);
                }

                objectsToRemove[numObjectsToRemove++] = threeObject1;
                userData1.collided = true;
              }
            }

            for (var i = 0; i < numObjectsToRemove; i++) {
              removeDebris(objectsToRemove[i]);
            }
            numObjectsToRemove = 0;
          }

          var ray = new Cesium.Ray();
          var clickRequest = false;
          var start = false;
          var hasInit = false;
          var startTime = new Date();
          var rayDir = new Cesium.Cartesian3();

          function initInput() {
            var scene = map.scene;
            var handler = new Cesium.ScreenSpaceEventHandler(scene.canvas);
            var lastMesh = null;
            handler.setInputAction(function (movement) {
              if (!clickRequest) {
                Cesium.Cartesian2.clone(movement.position, mouseCoords);
                clickRequest = true;
              }
            }, Cesium.ScreenSpaceEventType.LEFT_DOWN);
          }

          function processClick() {
            if (clickRequest) {
              meshVisualizer.getPickRay(mouseCoords, ray);
              if (!ray) {
                clickRequest = false;
                return;
              }
              // Creates a ball
              var ballMass = 35;
              var ballRadius = 0.4;
              var ball = new Cesium.Mesh(
                new Cesium.SphereGeometry({
                  radius: ballRadius,
                  stackPartitions: 14,
                  slicePartitions: 10,
                }),
                ballMaterial
              );

              var ballShape = new Ammo.btSphereShape(ballRadius);
              ballShape.setMargin(margin);

              Cesium.Cartesian3.clone(ray.direction, rayDir);
              Cesium.Cartesian3.subtract(ray.origin, ray.direction, pos);

              quat.set(0, 0, 0, 1);
              var ballBody = createRigidBody(ball, ballShape, ballMass, pos, quat);
              //ballBody.setFriction(0.5);

              Cesium.Cartesian3.normalize(rayDir, rayDir);
              Cesium.Cartesian3.multiplyByScalar(rayDir, 50, rayDir);
              //console.log(rayDir);
              ballBody.setLinearVelocity(new Ammo.btVector3(rayDir.x, rayDir.y, rayDir.z));

              clickRequest = false;
            }
          }
          var hs = false;
          function update(frameState) {
            if (hs) {
              return;
            }
            var deltaTime = (new Date() - startTime) / 1000.0;
            updatePhysics(deltaTime);
            processClick();
            startTime = new Date();
            // hs = true;
          }
          setTimeout(function () {
            if (!hasInit) {
              // - Init -

              initPhysics();

              createObjects();

              initInput();

              hasInit = true;
            }
            if (!start) {
              startTime = new Date();
              meshVisualizer.beforeUpdate.addEventListener(update);
              start = true;
            } else {
              meshVisualizer.beforeUpdate.removeEventListener(update);
              start = false;
            }
          }, 1000 * 3);
        });
      }
    </script>
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